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Plane: Enable quadplane dead reckoning navigation to start earlier #27883
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Plane: Enable quadplane dead reckoning navigation to start earlier #27883
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ArduPlane/ArduPlane.cpp
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@@ -505,6 +505,11 @@ void Plane::update_fly_forward(void) | |||
return; | |||
} | |||
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if (quadplane.in_transition()) { |
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I think this does need an option, and off by default, likely need Q_OPTION2
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Needs a rebase on #27770
I think its a good idea, but I think just in transition is is a bit too coarse. Maybe a new method for the the transition class? I think we would be OK to turn on fly forward in the timer stage but maybe not airspeed wait. |
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please check replaying an old log, and double check my 23 bits junkcode test
@@ -87,14 +87,21 @@ class AP_DAL { | |||
void log_writeDefaultAirSpeed3(const float aspeed, const float uncertainty); | |||
void log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type); | |||
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enum class StateMask { | |||
enum class RFRNFlags { |
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should have a bitwidth?
}; | ||
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// EKF ID for timing checks | ||
enum class EKFType : uint8_t { | ||
EKF2 = 0, | ||
EKF3 = 1, | ||
EKF2 = 2, |
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can you explain this?
test here for bits, please check! |
doesn't actually really test the effect this has as I wasn't able to spot one immediately
This reduces EKF errors during transition fromVTOL to FW flight when operating without a GPS fix.
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This reduces EKF errors during transition fromVTOL to FW flight when operating without a GPS fix.